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Hollow forearm and wrist structure for low-load industrial robot

A technology of industrial robots and empty small arms, which is applied in the direction of claw arms, manipulators, manufacturing tools, etc., can solve problems such as unclear transmission lines, and achieve the effects of increasing the range of activities, high precision, and large transmission speed ratio

Active Publication Date: 2014-04-30
NANJING ESTUN ROBOTICS CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a low-load industrial robot hollow forearm and wrist structure to solve the problem of unclear transmission lines

Method used

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  • Hollow forearm and wrist structure for low-load industrial robot
  • Hollow forearm and wrist structure for low-load industrial robot
  • Hollow forearm and wrist structure for low-load industrial robot

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Embodiment Construction

[0018] The specific embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0019] Such as figure 1 , figure 2 with image 3 The hollow forearm and wrist structure of the low-load industrial robot shown includes the J4 shaft 29, the cable turntable 24 fixed on the J4 shaft 29 from left to right, the fifth large speed ratio hypoid gear 2 and the J6 shaft Motor seat 4, one end of the J4 shaft 29 is arranged in the arm seat 3, and the J6 axis motor seat 4 is arranged in the arm seat 3 through a bearing, so that the J6 axis motor seat 4 can rotate relative to the arm seat 3. The arm seat In 3, the sixth largest speed ratio hypoid gear shaft perpendicular to the J4 axis is set by bearing rotation, and the sixth largest speed ratio hypoid gear shaft bottom is provided with the sixth largest speed ratio hypoid gear 1. The sixth The high speed ratio hypoid gear 1 meshes with the fifth high speed ratio hypoid gear 2, and...

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Abstract

The invention discloses a hollow forearm and wrist structure for a low-load industrial robot. The hollow forearm and wrist structure comprises a shaft J4 arranged on an arm base, a second large-speed-ratio hypoid gear shaft arranged in a wrist base, and a shaft J5 motor base. The top and the bottom of the second-large-speed ratio hypoid gear shaft are respectively provided with a second large-speed-ratio hypoid gear and a first bevel gear respectively, and the middle is provided with a fourth large-speed-ratio hypoid gear and a shaft J6 support in a rotating mode. The shaft J6 is arranged in the shaft J6 support in a rotating mode. A second bevel gear is arranged on the shaft J6. The first bevel gear and the second bevel gear are meshed. The shaft J5 motor base is connected with the shaft J6 motor base and the wrist base. A shaft J5 motor and a shaft J6 motor shaft are arranged in the shaft J5 motor base. One end of the shaft J6 motor shaft is connected with the shaft J6 motor, and the other end is provided with a first large-speed-ratio hypoid gear. The first large-speed-ratio hypoid gear and the second large-speed-ratio hypoid gear are meshed. The output shaft of the shaft J5 motor is provided with a third large-speed-ratio hypoid gear. The hollow forearm and wrist structure solves the problem that a transmission line is not distinct in the prior art.

Description

technical field [0001] The invention relates to a hollow forearm and wrist structure of a low-load industrial robot, belonging to the field of industrial robots. Background technique [0002] In the R&D process of the industrial robot body, the design of the forearm and wrist transmission scheme is a very critical link. It is one of the technical cores of the R&D of the mechanical part of the entire robot, and occupies a large proportion of the total cost of mechanical components. In many applications, the hollow structure of the forearm and wrist is required to facilitate the routing of external equipment. [0003] In the investigation of the domestic self-developed hollow forearm and wrist transmission scheme, it was found that the low-load industrial robot forearm and wrist transmission structure with a load in the range of 3-20Kg basically adopts the J4 axis: "servo motor + (spur gear) shaft) + reducer + output" and J5, J6 axis: "servo motor + synchronous belt drive + (...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/00B25J17/00B25J13/00
Inventor 张扬陈赣东王杰高韩邦海
Owner NANJING ESTUN ROBOTICS CO LTD
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